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[Backport 1.16] modules/navigator: Fix position setpoint update logic in Mission RTL #25861

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Merged
sfuhrer merged 4 commits into from
Nov 3, 2025
Merged

[Backport 1.16] modules/navigator: Fix position setpoint update logic in Mission RTL #25861

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5792d8c
Fix position setpoint update logic in Mission RTL
msberk Sep 22, 2025
e0b5497
Change to work more like `mission.cpp`
msberk Sep 24, 2025
d899ef0
Fix rtl_direct_misssion_land formatting for style guide
msberk Sep 29, 2025
ad5e558
rtl_mission_fast: fix FW landing by setting previous wp in landing
sfuhrer Nov 3, 2025
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9 changes: 7 additions & 2 deletions src/modules/navigator/rtl_direct_mission_land.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -122,6 +122,7 @@ void RtlDirectMissionLand::setActiveMissionItems()
{
WorkItemType new_work_item_type{WorkItemType::WORK_ITEM_TYPE_DEFAULT};
position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
const position_setpoint_s current_setpoint_copy = pos_sp_triplet->current;

// Climb to altitude
if (_needs_climbing && _work_item_type == WorkItemType::WORK_ITEM_TYPE_DEFAULT) {
Expand Down Expand Up @@ -203,8 +204,6 @@ void RtlDirectMissionLand::setActiveMissionItems()

_mission_item.autocontinue = true;
_mission_item.time_inside = 0.0f;

pos_sp_triplet->previous = pos_sp_triplet->current;
}

if (num_found_items > 0) {
Expand All @@ -213,6 +212,12 @@ void RtlDirectMissionLand::setActiveMissionItems()

mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);

// Only set the previous position item if the current one really changed
if ((_work_item_type != WorkItemType::WORK_ITEM_TYPE_MOVE_TO_LAND) &&
!position_setpoint_equal(&pos_sp_triplet->current, &current_setpoint_copy)) {
pos_sp_triplet->previous = current_setpoint_copy;
}

// prevent lateral guidance from loitering at a waypoint as part of a mission landing if the altitude
// is not achieved.
const bool fw_on_mission_landing = _vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING
Expand Down
10 changes: 7 additions & 3 deletions src/modules/navigator/rtl_mission_fast.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -91,6 +91,7 @@ void RtlMissionFast::setActiveMissionItems()
{
WorkItemType new_work_item_type{WorkItemType::WORK_ITEM_TYPE_DEFAULT};
position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
const position_setpoint_s current_setpoint_copy = pos_sp_triplet->current;

/* Skip VTOL/FW Takeoff item if in air, fixed-wing and didn't start the takeoff already*/
if ((_mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF || _mission_item.nav_cmd == NAV_CMD_TAKEOFF) &&
Expand Down Expand Up @@ -158,17 +159,20 @@ void RtlMissionFast::setActiveMissionItems()
_mission_item.autocontinue = true;
_mission_item.time_inside = 0.0f;

pos_sp_triplet->previous = pos_sp_triplet->current;
}



if (num_found_items > 0) {
mission_item_to_position_setpoint(next_mission_items[0u], &pos_sp_triplet->next);
}

mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);

// Only set the previous position item if the current one really changed
if ((_work_item_type != WorkItemType::WORK_ITEM_TYPE_MOVE_TO_LAND) &&
!position_setpoint_equal(&pos_sp_triplet->current, &current_setpoint_copy)) {
pos_sp_triplet->previous = current_setpoint_copy;
}

if (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING && isLanding() &&
_mission_item.nav_cmd == NAV_CMD_WAYPOINT) {
pos_sp_triplet->current.alt_acceptance_radius = FLT_MAX;
Expand Down
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